// 
//  polygonialization.cpp
//  icra12_pe_code
//  
//  Created by Andreas on 2012-08-28.
//  Copyright 2012 Andreas Kolling. All rights reserved.
// 

#include "polygonialization.h"

geometry::Polygon_environment* 
polygonialize_heightmap( HeightMap* map, float a, float e ) {
    AlphaShape* A = new AlphaShape;
    A->construct( occ, map->sizeX(), map->sizeZ(), a );
    Polygon_environment* E = new PolygonEnvironment;
    E->construct( A, e );
    return E;
}

/*
 * A simple test for the polygonialization routine for heightmaps
 * 
 * Author: Andreas Kolling ( Tue Aug 28 11:06:27 CEST 2012 ) 
 */
void test_heightmap_polygonialization() {
    /*
        TODO 
        - load heightmap and test polygonialization
    */
    HeightMap* m = new HeightMap;
}

/*
 * A simple test for a random set of points
 *
 * Author: Andreas Kolling ( Tue Aug 28 11:45:06 CEST 2012 ) 
 */
void test_random_occupancy_grid_polygonialization() {
    
}


int main (int argc, char const *argv[]) {
    
    
    
    //...
    
    return 0;
}